cmake_minimum_required(VERSION 3.8)
project(pose_pub)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(OpenCV 4.5 REQUIRED)
find_package(realsense2 REQUIRED)
find_package(Eigen3 REQUIRED)

include_directories(include)
include_directories(${realsense_INCLUDE_DIR})
include_directories(${EIGEN3_INCLUDE_DIR})
include_directories(${OpenCV_INCLUDE_DIRS})


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(pose_pub src/main.cpp src/PNPSolver.cpp)
target_link_libraries(pose_pub
        ${OpenCV_LIBS}
        ${realsense2_LIBRARY})
ament_target_dependencies(pose_pub rclcpp tf2 tf2_ros)

install(TARGETS
  pose_pub
  DESTINATION lib/${PROJECT_NAME})

ament_package()
